Integrated bumper

ABSTRACT

Provided is an integrated bumper system including, a suspension assembly including, a suspension element coupled with a robotic device chassis, a plurality of elastic elements positioned along at least a portion of a perimeter of the suspension element and coupled with the suspension element, and a plurality of cutouts positioned along at least a portion of the perimeter of the suspension element; and a bumper coupled with the suspension assembly, the bumper including, a plurality of anchors coupled with the plurality of elastic elements, and a plurality of tabs aligned with the plurality of cutouts configured to limit movement of the suspension element; and wherein the bumper is configured to move when impacted.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a Continuation of U.S. patent application Ser. No. 15/924,174filed Mar. 16, 2018 which is a Non-Provisional Patent Application ofU.S. Provisional Patent Application No. 62/473,362 filed Mar. 18, 2017,all of which are herein incorporated by reference in their entiretiesfor all purposes.

FIELD OF INVENTION

Embodiments disclosed related to integrated bumpers for robotic devices,specifically inconspicuous bumper/cover for robotic vacuum devices.

BACKGROUND

Robotic devices are becoming more common in everyday life. Initially,robotic devices emphasized function over form. It was once common to seerobotic devices with exposed gears and mechanisms. In a more maturemarketplace, however, form has become more important so as to attractmore consumers. The idea of inconspicuous bumper is about unifying theappearance of a bumper of a robot device, such as a robotic vacuumdevice, to improve the aesthetic of the device. In addition,functionality may be incorporated into the design to enhance usability.In this manner, both form and function may be addressed. As such,embodiments for integrated bumpers are presented herein.

SUMMARY

The following presents a simplified summary of some embodiments of theinvention in order to provide a basic understanding of the invention.This summary is not an extensive overview of the invention. It is notintended to identify key/critical elements of the invention or todelineate the scope of the invention. Its sole purpose is to presentsome embodiments of the invention in a simplified form as a prelude tothe more detailed description that is presented below.

Some aspects include an integrated bumper system including: a suspensionassembly including, a suspension element coupled with a robotic devicechassis, a plurality of elastic elements positioned along at least aportion of a perimeter of the suspension element and coupled with thesuspension element, and a plurality of cutouts positioned along at leasta portion of the perimeter of the suspension element; and a bumpercoupled with the suspension assembly, the bumper including, a pluralityof anchors coupled with the plurality of elastic elements, and aplurality of tabs aligned with the plurality of cutouts configured tolimit movement of the suspension element; and wherein the bumper isconfigured to move when impacted.

Some aspects include a robotic device including: a robotic devicechassis, an integrated bumper system including, a suspension assemblyincluding, a suspension element coupled with a robotic device chassis, aplurality of elastic elements positioned along at least a portion of aperimeter of the suspension element and coupled with the suspensionelement, and a plurality of cutouts positioned along at least a portionof the perimeter of the suspension element; and a bumper coupled withthe suspension assembly, the bumper including, a plurality of anchorscoupled with the plurality of elastic elements, and a plurality of tabsaligned with the plurality of cutouts configured to limit movement ofthe suspension element.

Some aspects include a robotic device including: a robotic devicechassis; a bumper coupled with the chassis, the bumper including: one ormore elastic elements directly or indirectly coupled with the chassis ofthe robotic device and interfacing with the bumper, wherein the one ormore elastic elements are positioned along at least a portion of aperimeter of the chassis; a cover and a user interface opening disposedalong a top surface of the cover; a user interface positioned along theuser interface opening; and a bridging element positioned around theuser interface to close a gap between the user interface and the cover,wherein the cover is configured to move separately from the userinterface upon an impact.

The features and advantages described in the specification are not allinclusive and, in particular, many additional features and advantageswill be apparent to one of ordinary skill in the art in view of thedrawings, specification, and claims. Moreover, it should be noted thatthe language used in the specification has been principally selected forreadability and instructional purposes, and may not have been selectedto delineate or circumscribe the inventive subject matter.

BRIEF DESCRIPTION OF THE DRAWINGS

Non-limiting and non-exhaustive features of the present invention aredescribed with reference to the following figures, wherein likereference numerals refer to like parts throughout the various figures.

FIGS. 1A-1B are illustrative orthogonal representations of an integratedbumper embodying features of the present invention;

FIGS. 2A-2B are illustrative cut away representations of an integratedbumper implemented on a robotic device embodying features of the presentinvention;

FIGS. 3A-3B are illustrative cross-sectional representations of anintegrated bumper embodying features of the present invention; and

FIG. 4 is an illustrative orthogonal underside representation of anintegrated bumper embodying features of the present invention.

DETAILED DESCRIPTION

Embodiments of the present invention will now be described in detailwith reference to a few embodiments thereof as illustrated in theaccompanying drawings. In the following description, numerous specificdetails are set forth in order to provide a thorough understanding ofspecific embodiments of the present invention. It will be apparent,however, to one skilled in the art, that the present invention may bepracticed without some or all of these specific details. In otherinstances, well known process steps and/or structures have not beendescribed in detail in order to not unnecessarily obscure the presentinvention.

In still other instances, specific numeric references such as “firstmaterial,” may be made. However, the specific numeric reference shouldnot be interpreted as a literal sequential order but rather interpretedthat the “first material” is different than a “second material.” Thus,the specific details set forth are merely exemplary. The specificdetails may be varied from and still be contemplated to be within thespirit and scope of the present disclosure. The term “coupled” isdefined as meaning connected either directly to the component orindirectly to the component through another component. Further, as usedherein, the terms “about,” “approximately,” or “substantially” for anynumerical values or ranges indicate a suitable dimensional tolerancethat allows the part or collection of components to function for itsintended purpose as described herein.

FIGS. 1A-1B are illustrative orthogonal representations of an integratedbumper embodying features of the present invention. FIG. 1A presentsintegrated bumper 100 in a neutral or resting position. That is, beforeintegrated bumper embodiments engage with, for example, an object orobstacle. The integrated bumper may be circular or oval in shape or maycomprise other shapes suitable to the robotic device, such u-shaped,squared, or rectangular. In some embodiments, integrated bumper 100 mayinclude user interface opening 104 disposed along a top surface of cover102 and bridging element 106 that covers the gap between cover 102 andan installed user interface 112. In some embodiments, the bridgingelement may comprise a circular or oval ring. In other embodiments, thebridging element may be in the shape of a curvilinear polygon or othershapes suitable to the robotic device. Further illustrated are sideports 108 and 110 corresponding with sensors of a robotic device. Anynumber of side port embodiments may be positioned in any manner withoutlimitation. Embodiments disclosed herein provide a cover that partiallyencloses a robotic device chassis as well as fully enclosing asuspension assembly. An example robotic device chassis will be discussedin further detail below for FIGS. 3A and 3B. In addition, suspensionassemblies will be discussed in further detail below for FIG. 4.

FIG. 1B presents integrated bumper 100 in an impact position. That is,after integrated bumper embodiments engage with, for example, an objector obstacle. In comparing FIG. 1A at 120 with FIG. 1B at 122, it may beseen that the cover moves slightly when impacted. However, because thecover is suspended, user interface 112 and bridging element 106 remainin the same position in response to movement or impact. Thisconfiguration provides an inconspicuous bumper/cover that is responsiveto obstacles.

FIGS. 2A-2B are illustrative cut away representations of an integratedbumper embodying features of the present invention. These cut awayrepresentations are provided for clarity in understanding embodimentsdisclosed herein. FIG. 2A presents an integrated bumper in a neutral orresting position. That is, before integrated bumper embodiments engagewith, for example, an object or obstacle. In addition, FIG. 2B presentsan integrated bumper in an impact position. That is, after integratedbumper embodiments engage with, for example, an object or obstacle. Incomparing FIG. 2A at 210 with FIG. 2B at 212, it may be seen that cover102 moves slightly when impacted. In some embodiments, the movement isless than approximately 5.0 mm. However, because cover 102 is suspended,user interface 112 and bridging element 106 remain in the same positionin response to movement or impact. This configuration provides aninconspicuous bumper/cover that is responsive to obstacles.

It may be appreciated that the bumper/cover and bridging elements may beenabled in a variety of ways. For example, in one embodiment, thebridging element and the cover are a unitary element that movesseparately from the user interface during movement or impact. In thisembodiment, the bridging element and the cover may be mechanicallybonded or may be formed together. In addition, the bridging element maybe positioned either above, level with, or below the cover surface inembodiments. In another embodiment, the bridging element and the userinterface are a unitary element that moves separately from the coverduring movement or impact. In this embodiment, the bridging element andthe user interface may be mechanically bonded or may be formed together.In addition, the bridging element may be positioned either above, levelwith, or below the user interface in embodiments.

FIGS. 3A-3B are illustrative cross-sectional representations of anintegrated bumper implemented on a robotic device embodying features ofthe present invention. In embodiments, the robotic device is anautonomous or semi-autonomous robotic vacuum device. Thesecross-sectional representations are provided for clarity inunderstanding embodiments disclosed herein. FIG. 3A presents anintegrated bumper implemented on a robotic device 300 in a neutral orresting position. That is, before integrated bumper embodiments engagewith, for example, an object or obstacle. In addition, FIG. 3B presentsan integrated bumper implemented on a robotic device in an impactposition. That is, after integrated bumper embodiments engage with, forexample, an object or obstacle. In comparing FIG. 3A at 302 and 304 withFIG. 3B at 312 and 314 respectively, it may be seen that cover 102 movesslightly when impacted. As such, this configuration provides aninconspicuous bumper/cover that is responsive to obstacles.

FIG. 4 is an illustrative orthogonal underside representation of anintegrated bumper embodying features of the present invention. Asillustrated, embodiments include suspension assembly 402. Suspensionassembly 402 includes suspension plate 412 that may be coupled with atop surface of a robotic device chassis (see FIGS. 3A and 3B forexample). In addition, a number of radially disposed springs 404 may bepositioned along a portion of the circumference of suspension plate 412and coupled therewith. In embodiments, springs may be substantiallysimilar. In other embodiments, springs may differ in length and springtension. It may be advantageous, in some embodiments to select differentsprings to accommodate different weight distributions of integratedbumper embodiments. The embodiment illustrated includes seven springspositioned along a portion of the circumference of suspension plate,however, any number of springs may be utilized without limitation andwithout departing from embodiments provided herein. Further illustrated,suspension assembly 402 may include a number of cutouts 408 positionedalong a circumference of suspension plate 412.

In addition to the suspension assembly, cover 102 is illustrated thatincludes a number of spring anchors 406 coupled with the radiallydisposed springs 404 to suspend the cover and a number of tabs 410aligned with cutouts 408 to limit movement of the cover. In thisconfiguration, the cover may move separately from the user interface 112in response to an impact. In embodiments, spring anchors are utilized tomechanically couple a spring or other expandable element such as, forexample, a rubber strip or band with the cover. Any type of springanchor known in the art may be utilized without limitation and withoutdeparting from embodiments disclosed herein. Further, in embodiments,tabs and cutouts cooperatively function to retain the cover and to limitmovement of the cover with respect to the robotic device chassis. Thesize and shape of both the tabs and cutouts may be selected to limitmovement to a desired specification without limitation and withoutdeparting from embodiments disclosed herein. In addition, tabs may bemanufactured with a rigid material to provide a hard stop or may bemanufactured from a flexible or semi-rigid material for a softer stop.In order to determine where the impact occurs, two impact sensors 420and 422 may be positioned along a second portion of the circumference ofthe suspension plate that does not include springs 404. These impactsensors detect movement between the suspension assembly and the coverand may provide at least some indication of the direction from which theimpact with an object or obstacle occurs. The following table isprovided to illustrate the sensor conditions and relative direction ofimpact:

TABLE 1 Condition Condition Condition Sensor 1 on₁ on₁ off₁ Sensor 2 on₂off₂ on₂ Direction Front Impact Impact local to sensor 1 Impact local tosensor 2

It may be noted that the location of the impact sensors may be optimallyplaced forward in the prevailing direction of travel of the roboticdevice but may also be placed in other locations. In some embodiments,additional impact sensors may be likewise utilized to provide morerefined impact direction information.

The terms “certain embodiments”, “an embodiment”, “embodiment”,“embodiments”, “the embodiment”, “the embodiments”, “one or moreembodiments”, “some embodiments”, and “one embodiment” mean one or more(but not all) embodiments unless expressly specified otherwise. Theterms “including”, “comprising”, “having” and variations thereof mean“including but not limited to”, unless expressly specified otherwise.The enumerated listing of items does not imply that any or all of theitems are mutually exclusive, unless expressly specified otherwise. Theterms “a”, “an” and “the” mean “one or more”, unless expressly specifiedotherwise.

While this invention has been described in terms of several embodiments,there are alterations, permutations, and equivalents, which fall withinthe scope of this invention. It should also be noted that there are manyalternative ways of implementing the methods and apparatuses of thepresent invention. Furthermore, unless explicitly stated, any methodembodiments described herein are not constrained to a particular orderor sequence. Further, the Abstract is provided herein for convenienceand should not be employed to construe or limit the overall invention,which is expressed in the claims. It is therefore intended that thefollowing appended claims be interpreted as including all suchalterations, permutations, and equivalents as fall within the truespirit and scope of the present invention.

What is claimed is:
 1. An integrated bumper system comprising: asuspension assembly comprising, a suspension element coupled with arobotic device chassis, a plurality of elastic elements positioned alongat least a portion of a perimeter of the suspension element and coupledwith the suspension element, and a plurality of cutouts positioned alongat least a portion of the perimeter of the suspension element; and abumper coupled with the suspension assembly, the bumper comprising, aplurality of anchors coupled with the plurality of elastic elements, anda plurality of tabs aligned with the plurality of cutouts configured tolimit movement of the suspension element; and wherein the bumper isconfigured to move when impacted.
 2. The integrated bumper system ofclaim 1, wherein the plurality of elastic elements comprises one or moreof: a spring, a rubber piece, a spring clip, and an elastic band.
 3. Theintegrated bumper system of claim 1, further comprising two or moreimpact sensors configured to detect movement of the bumper.
 4. Theintegrated bumper system of claim 3, wherein the two or more impactsensors are attached to the bumper on a first end and interface with thesuspension element on a second end.
 5. The integrated bumper system ofclaim 3, wherein the two or more impact sensors detect at least one ofsix conditions upon impact of the bumper with an object, the at leastsix conditions indicating at least a front impact, a first front sideimpact local to a first of the two or more impact sensors, a secondfront side impact local to a second of the two or more impact sensors, aback impact, a first back side impact local to a third of the two ormore impact sensors, and a second back side impact local to a fourth ofthe two or more impact sensors.
 6. The integrated bumper system of claim1, wherein the bumper at least partially encloses the robotic devicechassis and the suspension assembly.
 7. The integrated bumper system ofclaim 1, wherein the bumper comprises a cover and a user interfaceopening disposed along a top surface of the cover.
 8. The integratedbumper system of claim 1, wherein the bumper comprises a plurality ofside ports corresponding with a plurality of sensors.
 9. The integratedbumper system of claim 1, wherein the suspension element is coupled to atop surface of the robotic device chassis.
 10. The integrated bumpersystem of claim 1, further comprising a cover, wherein the bumper and atleast a portion of the cover are a unitary component.
 11. A roboticdevice comprising: a robotic device chassis, an integrated bumper systemcomprising, a suspension assembly comprising, a suspension elementcoupled with a robotic device chassis, a plurality of elastic elementspositioned along at least a portion of a perimeter of the suspensionelement and coupled with the suspension element, and a plurality ofcutouts positioned along at least a portion of the perimeter of thesuspension element; and a bumper coupled with the suspension assembly,the bumper comprising, a plurality of anchors coupled with the pluralityof elastic elements, and a plurality of tabs aligned with the pluralityof cutouts configured to limit movement of the suspension element. 12.The robotic device of claim 11, wherein the plurality of elasticelements comprises one or more of: a spring, a rubber piece, a springclip, and an elastic band.
 13. The robotic device of claim 11, whereinthe bumper comprises a cover and a user interface opening disposed alonga top surface of the cover.
 14. The robotic device of claim 13, furthercomprising: a user interface positioned along the user interfaceopening; and a bridging element positioned around the user interface toclose a gap between the user interface and the cover, wherein the coveris configured to move separately from the user interface upon an impact.15. The robotic device of claim 11, further comprising: two or moreimpact sensors attached to the bumper on a first end and interfacingwith the suspension element on a second end, the two or more impactsensors configured to detect movement of the bumper.
 16. The roboticdevice of claim 11, wherein the bumper at least partially encloses therobotic device chassis and the suspension assembly.
 17. The roboticdevice of claim 11, wherein the suspension element is coupled to a topsurface of the robotic device chassis.
 18. The robotic device of claim11, further comprising a cover, wherein the bumper and at least aportion of the cover are a unitary component.
 19. The robotic device ofclaim 11, wherein the bumper comprises a plurality of side portscorresponding with a plurality of sensors.
 20. A robotic devicecomprising: a robotic device chassis; a bumper coupled with the chassis,the bumper comprising: one or more elastic elements directly orindirectly coupled with the robotic device chassis and interfacing withthe bumper, wherein the one or more elastic elements are positionedalong at least a portion of a perimeter of the chassis; a cover and auser interface opening disposed along a top surface of the cover; a userinterface positioned along the user interface opening; and a bridgingelement positioned around the user interface to close a gap between theuser interface and the cover, wherein the cover is configured to moveseparately from the user interface upon an impact.